99 lines
3.2 KiB
C++
99 lines
3.2 KiB
C++
// Copyright (C) 2022 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
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// This file is part of the "Nazara Engine - Physics3D 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_PHYSICS3D_RIGIDBODY3D_HPP
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#define NAZARA_PHYSICS3D_RIGIDBODY3D_HPP
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#include <Nazara/Prerequisites.hpp>
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#include <Nazara/Core/Enums.hpp>
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#include <Nazara/Core/MovablePtr.hpp>
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#include <Nazara/Math/Matrix4.hpp>
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#include <Nazara/Math/Quaternion.hpp>
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#include <Nazara/Math/Vector3.hpp>
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#include <Nazara/Physics3D/Collider3D.hpp>
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#include <Nazara/Physics3D/Config.hpp>
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class NewtonBody;
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namespace Nz
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{
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class PhysWorld3D;
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class NAZARA_PHYSICS3D_API RigidBody3D
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{
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public:
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RigidBody3D(PhysWorld3D* world, const Matrix4f& mat = Matrix4f::Identity());
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RigidBody3D(PhysWorld3D* world, std::shared_ptr<Collider3D> geom, const Matrix4f& mat = Matrix4f::Identity());
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RigidBody3D(const RigidBody3D& object);
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RigidBody3D(RigidBody3D&& object) noexcept;
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~RigidBody3D();
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void AddForce(const Vector3f& force, CoordSys coordSys = CoordSys::Global);
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void AddForce(const Vector3f& force, const Vector3f& point, CoordSys coordSys = CoordSys::Global);
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void AddTorque(const Vector3f& torque, CoordSys coordSys = CoordSys::Global);
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void EnableAutoSleep(bool autoSleep);
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void EnableSimulation(bool simulation);
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Boxf GetAABB() const;
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Vector3f GetAngularDamping() const;
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Vector3f GetAngularVelocity() const;
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const std::shared_ptr<Collider3D>& GetGeom() const;
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float GetGravityFactor() const;
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NewtonBody* GetHandle() const;
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float GetLinearDamping() const;
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Vector3f GetLinearVelocity() const;
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float GetMass() const;
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Vector3f GetMassCenter(CoordSys coordSys = CoordSys::Local) const;
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int GetMaterial() const;
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Matrix4f GetMatrix() const;
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Vector3f GetPosition() const;
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Quaternionf GetRotation() const;
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void* GetUserdata() const;
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PhysWorld3D* GetWorld() const;
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bool IsAutoSleepEnabled() const;
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bool IsMoveable() const;
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bool IsSimulationEnabled() const;
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bool IsSleeping() const;
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void SetAngularDamping(const Vector3f& angularDamping);
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void SetAngularVelocity(const Vector3f& angularVelocity);
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void SetGeom(std::shared_ptr<Collider3D> geom);
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void SetGravityFactor(float gravityFactor);
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void SetLinearDamping(float damping);
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void SetLinearVelocity(const Vector3f& velocity);
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void SetMass(float mass);
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void SetMassCenter(const Vector3f& center);
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void SetMaterial(const std::string& materialName);
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void SetMaterial(int materialIndex);
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void SetPosition(const Vector3f& position);
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void SetRotation(const Quaternionf& rotation);
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void SetUserdata(void* ud);
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RigidBody3D& operator=(const RigidBody3D& object);
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RigidBody3D& operator=(RigidBody3D&& object) noexcept;
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protected:
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void Destroy();
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private:
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void UpdateBody(const Matrix4f& transformMatrix);
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static void ForceAndTorqueCallback(const NewtonBody* body, float timeStep, int threadIndex);
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std::shared_ptr<Collider3D> m_geom;
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MovablePtr<NewtonBody> m_body;
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Vector3f m_forceAccumulator;
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Vector3f m_torqueAccumulator;
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PhysWorld3D* m_world;
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void* m_userdata;
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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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#endif // NAZARA_PHYSICS3D_RIGIDBODY3D_HPP
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