Push the current work on the Physics2D module
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Lynix
266
src/Nazara/Physics2D/RigidBody2D.cpp
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266
src/Nazara/Physics2D/RigidBody2D.cpp
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// Copyright (C) 2015 Jérôme Leclercq
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// This file is part of the "Nazara Engine - Physics 3D module"
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#include <Nazara/Physics2D/RigidBody2D.hpp>
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#include <Nazara/Math/Algorithm.hpp>
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#include <Nazara/Physics2D/Config.hpp>
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#include <Nazara/Physics2D/PhysWorld2D.hpp>
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#include <chipmunk/chipmunk.h>
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#include <chipmunk/chipmunk_private.h>
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#include <algorithm>
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#include <Nazara/Physics3D/Debug.hpp>
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namespace Nz
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{
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RigidBody2D::RigidBody2D(PhysWorld2D* world, float mass) :
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RigidBody2D(world, mass, nullptr)
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{
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}
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RigidBody2D::RigidBody2D(PhysWorld2D* world, float mass, Collider2DRef geom) :
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m_geom(),
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m_forceAccumulator(Vector3f::Zero()),
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m_torqueAccumulator(Vector3f::Zero()),
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m_world(world),
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m_gravityFactor(1.f),
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m_mass(0.f)
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{
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NazaraAssert(m_world, "Invalid world");
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m_handle = cpBodyNew(0.f, 0.f);
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cpBodySetUserData(m_handle, this);
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cpSpaceAddBody(m_world->GetHandle(), m_handle);
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SetGeom(geom);
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SetMass(mass);
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}
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RigidBody2D::RigidBody2D(const RigidBody2D& object) :
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m_geom(object.m_geom),
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m_forceAccumulator(Vector3f::Zero()),
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m_torqueAccumulator(Vector3f::Zero()),
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m_world(object.m_world),
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m_gravityFactor(object.m_gravityFactor),
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m_mass(0.f)
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{
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NazaraAssert(m_world, "Invalid world");
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NazaraAssert(m_geom, "Invalid geometry");
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m_handle = cpBodyNew(0.f, 0.f);
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cpBodySetUserData(m_handle, this);
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cpSpaceAddBody(m_world->GetHandle(), m_handle);
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SetGeom(object.GetGeom());
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SetMass(object.GetMass());
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}
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RigidBody2D::RigidBody2D(RigidBody2D&& object) :
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m_geom(std::move(object.m_geom)),
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m_forceAccumulator(std::move(object.m_forceAccumulator)),
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m_torqueAccumulator(std::move(object.m_torqueAccumulator)),
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m_handle(object.m_handle),
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m_world(object.m_world),
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m_gravityFactor(object.m_gravityFactor),
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m_mass(object.m_mass)
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{
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object.m_handle = nullptr;
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}
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RigidBody2D::~RigidBody2D()
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{
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if (m_handle)
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cpBodyFree(m_handle);
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}
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void RigidBody2D::AddForce(const Vector2f& force, CoordSys coordSys)
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{
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return AddForce(force, GetCenterOfGravity(coordSys), coordSys);
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}
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void RigidBody2D::AddForce(const Vector2f& force, const Vector2f& point, CoordSys coordSys)
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{
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switch (coordSys)
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{
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case CoordSys_Global:
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cpBodyApplyForceAtWorldPoint(m_handle, cpv(force.x, force.y), cpv(force.x, force.y));
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break;
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case CoordSys_Local:
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cpBodyApplyForceAtLocalPoint(m_handle, cpv(force.x, force.y), cpv(point.x, point.y));
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break;
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}
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}
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void RigidBody2D::AddTorque(float torque)
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{
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cpBodySetTorque(m_handle, cpBodyGetTorque(m_handle) + torque);
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}
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Rectf RigidBody2D::GetAABB() const
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{
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cpBB bb = cpBBNew(0.f, 0.f, 0.f, 0.f);
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for (cpShape* shape : m_shapes)
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bb = cpBBMerge(bb, cpShapeGetBB(shape));
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return Rectf(bb.l, bb.t, bb.r - bb.l, bb.b - bb.t);
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}
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float RigidBody2D::GetAngularVelocity() const
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{
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return cpBodyGetAngularVelocity(m_handle);
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}
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const Collider2DRef& RigidBody2D::GetGeom() const
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{
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return m_geom;
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}
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float RigidBody2D::GetGravityFactor() const
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{
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return m_gravityFactor;
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}
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cpBody* RigidBody2D::GetHandle() const
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{
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return m_handle;
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}
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float RigidBody2D::GetMass() const
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{
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return m_mass;
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}
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Vector2f RigidBody2D::GetCenterOfGravity(CoordSys coordSys) const
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{
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cpVect cog = cpBodyGetCenterOfGravity(m_handle);
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switch (coordSys)
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{
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case CoordSys_Global:
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cog = cpBodyLocalToWorld(m_handle, cog);
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break;
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case CoordSys_Local:
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break; // Nothing to do
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}
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return Vector2f(cog.x, cog.y);
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}
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Vector2f RigidBody2D::GetPosition() const
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{
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cpVect pos = cpBodyGetPosition(m_handle);
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return Vector2f(pos.x, pos.y);
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}
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float RigidBody2D::GetRotation() const
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{
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return cpBodyGetAngle(m_handle);
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}
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Vector2f RigidBody2D::GetVelocity() const
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{
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cpVect vel = cpBodyGetVelocity(m_handle);
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return Vector2f(vel.x, vel.y);
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}
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bool RigidBody2D::IsMoveable() const
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{
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return m_mass > 0.f;
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}
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bool RigidBody2D::IsSleeping() const
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{
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return cpBodyIsSleeping(m_handle) != 0;
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}
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void RigidBody2D::SetAngularVelocity(float angularVelocity)
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{
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cpBodySetAngularVelocity(m_handle, angularVelocity);
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}
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void RigidBody2D::SetGeom(Collider2DRef geom)
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{
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if (m_geom.Get() != geom)
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{
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for (cpShape* shape : m_shapes)
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cpBodyRemoveShape(m_handle, shape);
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if (geom)
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m_geom = geom;
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else
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m_geom = NullCollider2D::New();
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m_shapes = m_geom->CreateShapes(this);
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}
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}
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void RigidBody2D::SetGravityFactor(float gravityFactor)
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{
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m_gravityFactor = gravityFactor;
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}
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void RigidBody2D::SetMass(float mass)
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{
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if (m_mass > 0.f)
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{
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if (mass > 0.f)
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cpBodySetMass(m_handle, mass);
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else
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cpBodySetType(m_handle, CP_BODY_TYPE_STATIC);
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}
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else if (mass > 0.f)
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{
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if (cpBodyGetType(m_handle) == CP_BODY_TYPE_STATIC)
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cpBodySetType(m_handle, CP_BODY_TYPE_DYNAMIC);
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}
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m_mass = mass;
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}
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void RigidBody2D::SetMassCenter(const Vector2f& center)
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{
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if (m_mass > 0.f)
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cpBodySetCenterOfGravity(m_handle, cpv(center.x, center.y));
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}
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void RigidBody2D::SetPosition(const Vector2f& position)
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{
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cpBodySetPosition(m_handle, cpv(position.x, position.y));
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}
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void RigidBody2D::SetRotation(float rotation)
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{
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cpBodySetAngle(m_handle, rotation);
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}
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void RigidBody2D::SetVelocity(const Vector2f& velocity)
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{
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cpBodySetVelocity(m_handle, cpv(velocity.x, velocity.y));
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}
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RigidBody2D& RigidBody2D::operator=(const RigidBody2D& object)
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{
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RigidBody2D physObj(object);
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return operator=(std::move(physObj));
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}
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RigidBody2D& RigidBody2D::operator=(RigidBody2D&& object)
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{
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if (m_handle)
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cpBodyFree(m_handle);
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m_handle = object.m_handle;
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m_forceAccumulator = std::move(object.m_forceAccumulator);
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m_geom = std::move(object.m_geom);
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m_gravityFactor = object.m_gravityFactor;
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m_mass = object.m_mass;
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m_torqueAccumulator = std::move(object.m_torqueAccumulator);
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m_world = object.m_world;
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object.m_handle = nullptr;
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return *this;
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}
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}
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