Rename ChipmunkPhysics2D and JoltPhysics3D to Physics[2D|3D]
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Lynix
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include/Nazara/Physics2D/RigidBody2D.hpp
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include/Nazara/Physics2D/RigidBody2D.hpp
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// Copyright (C) 2024 Jérôme "SirLynix" Leclercq (lynix680@gmail.com)
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// This file is part of the "Nazara Engine - Physics2D module"
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#pragma once
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#ifndef NAZARA_PHYSICS2D_RIGIDBODY2D_HPP
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#define NAZARA_PHYSICS2D_RIGIDBODY2D_HPP
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#include <NazaraUtils/Prerequisites.hpp>
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#include <Nazara/Core/Enums.hpp>
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#include <Nazara/Math/Angle.hpp>
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#include <Nazara/Math/Rect.hpp>
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#include <Nazara/Physics2D/Collider2D.hpp>
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#include <Nazara/Physics2D/Config.hpp>
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#include <NazaraUtils/Signal.hpp>
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#include <functional>
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#include <limits>
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struct cpBody;
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namespace Nz
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{
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class PhysArbiter2D;
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class PhysWorld2D;
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class NAZARA_PHYSICS2D_API RigidBody2D
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{
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public:
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struct DynamicSettings;
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struct StaticSettings;
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using VelocityFunc = std::function<void(RigidBody2D& body2D, const Vector2f& gravity, float damping, float deltaTime)>;
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inline RigidBody2D(PhysWorld2D& world, const DynamicSettings& settings);
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inline RigidBody2D(PhysWorld2D& world, const StaticSettings& settings);
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RigidBody2D(const RigidBody2D& object);
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RigidBody2D(RigidBody2D&& object) noexcept;
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inline ~RigidBody2D();
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inline void AddForce(const Vector2f& force, CoordSys coordSys = CoordSys::Global);
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void AddForce(const Vector2f& force, const Vector2f& point, CoordSys coordSys = CoordSys::Global);
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inline void AddImpulse(const Vector2f& impulse, CoordSys coordSys = CoordSys::Global);
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void AddImpulse(const Vector2f& impulse, const Vector2f& point, CoordSys coordSys = CoordSys::Global);
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void AddTorque(const RadianAnglef& torque);
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bool ClosestPointQuery(const Vector2f& position, Vector2f* closestPoint = nullptr, float* closestDistance = nullptr) const;
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void EnableSimulation(bool simulation);
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void ForEachArbiter(const FunctionRef<void(PhysArbiter2D& /*arbiter*/)>& callback);
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void ForceSleep();
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Rectf GetAABB() const;
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RadianAnglef GetAngularVelocity() const;
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inline UInt32 GetBodyIndex() const;
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float GetElasticity(std::size_t shapeIndex = 0) const;
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float GetFriction(std::size_t shapeIndex = 0) const;
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inline const std::shared_ptr<Collider2D>& GetGeom() const;
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inline cpBody* GetHandle() const;
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inline float GetMass() const;
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Vector2f GetMassCenter(CoordSys coordSys = CoordSys::Local) const;
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float GetMomentOfInertia() const;
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Vector2f GetPosition() const;
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inline const Vector2f& GetPositionOffset() const;
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RadianAnglef GetRotation() const;
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inline std::size_t GetShapeCount() const;
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inline std::size_t GetShapeIndex(cpShape* shape) const;
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Vector2f GetSurfaceVelocity(std::size_t shapeIndex = 0) const;
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Vector2f GetVelocity() const;
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inline const VelocityFunc& GetVelocityFunction() const;
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inline PhysWorld2D* GetWorld() const;
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inline bool IsKinematic() const;
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inline bool IsSimulationEnabled() const;
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bool IsSleeping() const;
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inline bool IsStatic() const;
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void ResetVelocityFunction();
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void SetAngularVelocity(const RadianAnglef& angularVelocity);
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void SetElasticity(float elasticity);
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void SetElasticity(std::size_t shapeIndex, float elasticity);
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void SetFriction(float friction);
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void SetFriction(std::size_t shapeIndex, float friction);
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void SetGeom(std::shared_ptr<Collider2D> geom, bool recomputeMoment = true, bool recomputeMassCenter = true);
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void SetMass(float mass, bool recomputeMoment = true);
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void SetMassCenter(const Vector2f& center, CoordSys coordSys = CoordSys::Local);
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void SetMomentOfInertia(float moment);
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void SetPosition(const Vector2f& position);
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void SetPositionOffset(const Vector2f& offset);
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void SetRotation(const RadianAnglef& rotation);
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void SetSurfaceVelocity(const Vector2f& surfaceVelocity);
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void SetSurfaceVelocity(std::size_t shapeIndex, const Vector2f& surfaceVelocity);
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void SetStatic(bool setStaticBody = true);
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void SetVelocity(const Vector2f& velocity);
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void SetVelocityFunction(VelocityFunc velocityFunc);
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void TeleportTo(const Vector2f& position, const RadianAnglef& rotation);
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RadianAnglef ToLocal(const RadianAnglef& worldRotation);
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Vector2f ToLocal(const Vector2f& worldPosition);
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RadianAnglef ToWorld(const RadianAnglef& localRotation);
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Vector2f ToWorld(const Vector2f& localPosition);
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void UpdateVelocity(const Vector2f& gravity, float damping, float deltaTime);
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void Wakeup();
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RigidBody2D& operator=(const RigidBody2D& object);
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RigidBody2D& operator=(RigidBody2D&& object) noexcept;
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static constexpr UInt32 InvalidBodyIndex = std::numeric_limits<UInt32>::max();
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static constexpr std::size_t InvalidShapeIndex = std::numeric_limits<std::size_t>::max();
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struct CommonSettings
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{
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std::shared_ptr<Collider2D> geom;
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RadianAnglef rotation = RadianAnglef::Zero();
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Vector2f position = Vector2f::Zero();
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bool initiallySleeping = false;
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bool isSimulationEnabled = true;
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};
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struct DynamicSettings : CommonSettings
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{
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DynamicSettings() = default;
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DynamicSettings(std::shared_ptr<Collider2D> collider, float mass_) :
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mass(mass_)
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{
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geom = std::move(collider);
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}
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RadianAnglef angularVelocity = RadianAnglef::Zero();
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Vector2f linearVelocity = Vector2f::Zero();
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float gravityFactor = 1.f;
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float mass = 1.f;
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};
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struct StaticSettings : CommonSettings
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{
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StaticSettings() = default;
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StaticSettings(std::shared_ptr<Collider2D> collider)
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{
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geom = std::move(collider);
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}
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};
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protected:
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RigidBody2D() = default;
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void Create(PhysWorld2D& world, const DynamicSettings& settings);
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void Create(PhysWorld2D& world, const StaticSettings& settings);
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void Destroy();
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private:
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void DestroyBody();
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void RegisterToSpace();
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void UnregisterFromSpace();
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static void CopyBodyData(cpBody* from, cpBody* to);
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static void CopyShapeData(cpShape* from, cpShape* to);
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std::vector<cpShape*> m_shapes;
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std::shared_ptr<Collider2D> m_geom;
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MovablePtr<cpBody> m_handle;
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MovablePtr<PhysWorld2D> m_world;
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UInt32 m_bodyIndex;
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Vector2f m_positionOffset;
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VelocityFunc m_velocityFunc;
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bool m_isRegistered;
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bool m_isSimulationEnabled;
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bool m_isStatic;
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float m_gravityFactor;
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float m_mass;
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};
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}
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#include <Nazara/Physics2D/RigidBody2D.inl>
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#endif // NAZARA_PHYSICS2D_RIGIDBODY2D_HPP
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