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@pfeodrippe
pfeodrippe committed Jan 30, 2025
1 parent 04f77b6 commit 439cfbb
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Showing 4 changed files with 155 additions and 90 deletions.
2 changes: 1 addition & 1 deletion .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@ on:
push:
branches:
- main
# - develop
- develop
paths-ignore:
- '**/README.md'
- '**/CHANGELOG.md'
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128 changes: 90 additions & 38 deletions src/vybe/c.clj
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
(ns vybe.c
(:require
[vybe.c :as vc]
[babashka.process :as proc]
[bling.core :as bling]
[clojure.edn :as edn]
Expand Down Expand Up @@ -773,11 +774,6 @@ int bs_lower_bound(float a[], int n, float x) {
(cond
(= (:op (:expr init)) :fn)
(let [{:keys [params body]} (first (:methods (:expr init)))
#_ #_schema (::schema (meta (first (:form (first (:methods (:expr init)))))))
#_ #_schema (if-let [s (and (symbol? schema)
(resolve schema))]
@s
schema)
return-tag (or (some-> (::schema (meta (first (:form (first (:methods (:expr init)))))))
-adapt-type
->name)
Expand Down Expand Up @@ -805,30 +801,6 @@ int bs_lower_bound(float a[], int n, float x) {
(str/join ", ")
parens)
" {\n"

#_(cond
(vp/component? schema)
(format "
if (setjmp(buf)) {return (%s){};};
signal(SIGSEGV, sighandler);
"
return-tag)

(str/includes? return-tag "*")
"
if (setjmp(buf)) return NULL;
signal(SIGSEGV, sighandler);
"
(= return-tag "void")
""

:else
"
if (setjmp(buf)) return -1;
signal(SIGSEGV, sighandler);
")


;; Add `return` only to the last expression (if applicable).
(if (= return-tag "void")
(emit body)
Expand Down Expand Up @@ -858,6 +830,55 @@ signal(SIGSEGV, sighandler);
-adapt-type
->name))))

;; TODO Maybe use `fnc` instead?
#_ (defn* ^:debug ddd :- :void
[]
((fn- :- :int
[a :- :long]
(+ a 40 520.0))
15))

;; Anonymous function.
:fn
(let [meth (first (:methods v))
{:keys [params body]} meth
return-tag (or (some-> (::schema (meta (first (:form meth))))
-adapt-type
->name)
(some-> ^Class (:o-tag meth)
(.getName)))]
(str "^ " return-tag " "
(->> params
(mapv (fn [{:keys [tag form]}]
(str (case (.getName ^Class tag)
"[F"
"float*"

"java.lang.Object"
(let [schema (::schema (meta form))]
(-adapt-type schema))

tag)
" "
(->name form))))
(str/join ", ")
parens)
" {\n"

;; Add `return` only to the last expression (if applicable).
(if (= return-tag "void")
(emit body)
(str "\nreturn\n ({" (emit body) ";})"))
";"
"\n}"))

#_(do (def v v)
v)
#_(format "^ int () { return %s ;}"
(emit (:body (first (:methods v)))))
;; ^ void () { printf(\"test\"); } ;
;; __auto_type dddd = ^ void () { printf(\"test\"); } ;

:map
(format "{%s}"
(->> (mapv (fn [k v]
Expand Down Expand Up @@ -892,6 +913,9 @@ signal(SIGSEGV, sighandler);
(symbol? (:val v))
(->name (:val v))

(float? (:val v))
(str (:val v) "f")

:else
(case (:val v)
true 1
Expand Down Expand Up @@ -1097,6 +1121,17 @@ signal(SIGSEGV, sighandler);
(mapv emit)
(str/join ", "))))

:prim-invoke
(format "(%s)(%s)"
(emit (:fn v))
(->> (:args v)
(mapv emit)
(str/join ", ")))


:with-meta
(emit (:expr v))

:var
(let [my-var (:var v)
var-value @my-var
Expand Down Expand Up @@ -1188,7 +1223,7 @@ signal(SIGSEGV, sighandler);
(throw e))

(let [error-map (merge {:ns *ns*
:transpilation *transpilation*
#_ #_:transpilation *transpilation*
:raw-forms (:raw-forms v)
:form (:form v)
:metadata (:metadata v)
Expand All @@ -1204,11 +1239,10 @@ signal(SIGSEGV, sighandler);
(tap> {:label "Error when transpiling to C"
:error error-map})

(try
(let [{:keys [file line column]} (:metadata (ex-data e))]
(throw (clojure.lang.Compiler$CompilerException. file line column e)))
(catch Exception _e
(throw (ex-info "Error when transpiling to C" error-map))))))))
(let [{:keys [file line column]} (:metadata (ex-data e))]
(throw (clojure.lang.Compiler$CompilerException. file line column e)))
#_(catch Exception _e
(throw (ex-info "Error when transpiling to C" error-map)))))))

(defn- adapt-schema
[schema]
Expand Down Expand Up @@ -1466,7 +1500,7 @@ long long int: \"long long int\", unsigned long long int: \"unsigned long long i
([code-form {:keys [sym-meta sym sym-name] :as opts}]
(let [{:keys [c-code ::c-data form-hash final-form init-struct-val]}
(-> code-form
(transpile (assoc opts ::version 54)))
(transpile (assoc opts ::version 55)))

obj-name (str "vybe_" sym-name "_"
(when (or (:no-cache sym-meta)
Expand Down Expand Up @@ -1842,6 +1876,13 @@ long long int: \"long long int\", unsigned long long int: \"unsigned long long i
#_ (-> (find-symbol eita `eita__init)
(vp/c-fn [:fn :void [:some_struct [:* :void]]]))

(defmacro fn-
{:clj-kondo/lint-as 'schema.core/fn}
[_ ret-schema & [args & fn-tail]]
`(fn ~(with-meta (adapt-fn-args args)
(adapt-schema ret-schema))
~@fn-tail))

(defn p->fn
"Convert a pointer (mem segment) so it can be called as a
VybeCFn."
Expand Down Expand Up @@ -2013,6 +2054,18 @@ long long int: \"long long int\", unsigned long long int: \"unsigned long long i
[v c]
v)
(defn ^:no-ns bs_lower_bound
"It works only in C for now.

Using `eval*`

(vc/eval*
(vc/bs_lower_bound (-> (vc/comptime (mapv float [1.0 2.0 4.0 5.0 5.5]))
(vp/as [:vec :float]))
5
5.4))"
[arr n v])
(defmethod c-macroexpand #'cast*
[{:keys [args]}]
`(let [v# ~(first args)]
Expand Down Expand Up @@ -2043,8 +2096,7 @@ long long int: \"long long int\", unsigned long long int: \"unsigned long long i
^:no-ns zapgremlins)
(declare ^:no-ns malloc
^:no-ns calloc
^:no-ns free
^:no-ns bs_lower_bound)
^:no-ns free)
(defmethod c-invoke #'printf
[node]
Expand Down
113 changes: 62 additions & 51 deletions src/vybe/game/system.clj
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Original file line number Diff line number Diff line change
Expand Up @@ -156,7 +156,7 @@
(when-not raycast
[:vg/raycast :vg/enabled])]})))

(vf/defsystem-c ^:debug update-physics-2 w
(vf/defsystem-c update-physics-2 w
[ ;; TODO Derive it from transform-global.
scale vt/Scale
{aabb-min :min aabb-max :max} vt/Aabb
Expand All @@ -173,56 +173,67 @@
;; TODO `e` should be a `VybeFlecsEntitySet` instead of a `long`.
e :vf/entity
it :vf/iter]
#_(let [half #(max (/ (- (% aabb-max)
(% aabb-min))
2.0)
0.1)
center #(+ (* (/ (+ (% aabb-max)
(% aabb-min))
2.0)))
scaled #(* (half %) 2 (scale %))
{:keys [x y z]} (vm/matrix->translation
(-> (vr.c/matrix-translate (center :x) (center :y) (center :z))
(vr.c/matrix-multiply transform-global)))
body (if vy-body
(do (when kinematic
#_(println :KINEMATIC (matrix->rotation transform-global))
(vj/move vy-body (vt/Vector3 [x y z]) (vm/matrix->rotation transform-global) (:delta_time it)))
vy-body)
(let [body (vj/body-add phys (vj/BodyCreationSettings
(cond-> {:position #_(vt/Vector4 [0 0 0 1])
(vt/Vector4 [x y z 1])
:rotation #_(vt/Rotation [0 0 0 1])
(vm/matrix->rotation transform-global)
:shape (vj/box (vj/HalfExtent [(half :x) (half :y) (half :z)])
scale
#_(vt/Vector4 [x y z 1])
#_(vt/Translation [0 0 0])
#_(matrix->rotation transform-global))}
kinematic
(assoc :motion_type (jolt/JPC_MOTION_TYPE_KINEMATIC))

sensor
(assoc :is_sensor true)

dynamic
(assoc :motion_type (jolt/JPC_MOTION_TYPE_DYNAMIC)
:object_layer :vj.layer/moving))))]
(when (= (vf/get-name e) (vf/path [:my/model :vg.gltf/my-cube]))
#_(clojure.pprint/pprint (-> (vj/-body-get phys (:id body))
:motion_properties
#_(vp/p->map vj/MotionProperties))))
body))
{:keys [mesh material]} (when-not vy-body
(gen-cube {:x (scaled :x) :y (scaled :y) :z (scaled :z)}
(rand-int 10)))]
(merge w {(body-path body)
[:vg/debug mesh material phys body
(vt/Eid e)]

e [phys body
(when-not raycast
[:vg/raycast :vg/enabled])]})))
(let [half (vc/fn- :- :float
[choice :- :int]
(let [diff (cond
(= choice 0)
(- (:x aabb-max)
(:x aabb-min))

(= choice 1)
(- (:y aabb-max)
(:y aabb-min))

(= choice 2)
(- (:z aabb-max)
(:z aabb-min)))]
(max (/ diff 2.0) 0.1)))
#_ #_center #(+ (* (/ (+ (% aabb-max)
(% aabb-min))
2.0)))
#_ #_scaled #(* (half %) 2 (scale %))
#_ #_{:keys [x y z]} (vm/matrix->translation
(-> (vr.c/matrix-translate (center :x) (center :y) (center :z))
(vr.c/matrix-multiply transform-global)))
#_ #_body (if vy-body
(do (when kinematic
#_(println :KINEMATIC (matrix->rotation transform-global))
(vj/move vy-body (vt/Vector3 [x y z]) (vm/matrix->rotation transform-global) (:delta_time it)))
vy-body)
(let [body (vj/body-add phys (vj/BodyCreationSettings
(cond-> {:position #_(vt/Vector4 [0 0 0 1])
(vt/Vector4 [x y z 1])
:rotation #_(vt/Rotation [0 0 0 1])
(vm/matrix->rotation transform-global)
:shape (vj/box (vj/HalfExtent [(half :x) (half :y) (half :z)])
scale
#_(vt/Vector4 [x y z 1])
#_(vt/Translation [0 0 0])
#_(matrix->rotation transform-global))}
kinematic
(assoc :motion_type (jolt/JPC_MOTION_TYPE_KINEMATIC))

sensor
(assoc :is_sensor true)

dynamic
(assoc :motion_type (jolt/JPC_MOTION_TYPE_DYNAMIC)
:object_layer :vj.layer/moving))))]
(when (= (vf/get-name e) (vf/path [:my/model :vg.gltf/my-cube]))
#_(clojure.pprint/pprint (-> (vj/-body-get phys (:id body))
:motion_properties
#_(vp/p->map vj/MotionProperties))))
body))
#_ #_ {:keys [mesh material]} (when-not vy-body
(gen-cube {:x (scaled :x) :y (scaled :y) :z (scaled :z)}
(rand-int 10)))]
#_(merge w {(body-path body)
[:vg/debug mesh material phys body
(vt/Eid e)]

e [phys body
(when-not raycast
[:vg/raycast :vg/enabled])]})))

(vf/defobserver body-removed w
[:vf/events #{:remove}
Expand Down
2 changes: 2 additions & 0 deletions todo.md
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Original file line number Diff line number Diff line change
Expand Up @@ -314,6 +314,8 @@
- [x] rotation
- [x] use lerp
- [ ] move `update-physics` system
- [ ] support anon functions using clang blocks
- __auto_type dddd = ^ void () { printf(\"test\"); } ; dddd();
- [ ] built-in models
- [x] minimal
- [ ] more complex
Expand Down

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