97 lines
3.3 KiB
C++
97 lines
3.3 KiB
C++
// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
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// This file is part of the "Nazara Engine - BulletPhysics3D 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_BULLETPHYSICS3D_BULLETRIGIDBODY3D_HPP
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#define NAZARA_BULLETPHYSICS3D_BULLETRIGIDBODY3D_HPP
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#include <NazaraUtils/Prerequisites.hpp>
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#include <Nazara/BulletPhysics3D/BulletCollider3D.hpp>
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#include <Nazara/BulletPhysics3D/Config.hpp>
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#include <Nazara/Core/Enums.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 <NazaraUtils/MovablePtr.hpp>
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class btRigidBody;
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namespace Nz
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{
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class BulletPhysWorld3D;
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class NAZARA_BULLETPHYSICS3D_API BulletRigidBody3D
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{
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public:
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BulletRigidBody3D(BulletPhysWorld3D* world, const Matrix4f& mat = Matrix4f::Identity());
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BulletRigidBody3D(BulletPhysWorld3D* world, std::shared_ptr<BulletCollider3D> geom, const Matrix4f& mat = Matrix4f::Identity());
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BulletRigidBody3D(const BulletRigidBody3D& object) = delete;
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BulletRigidBody3D(BulletRigidBody3D&& object) noexcept;
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~BulletRigidBody3D();
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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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inline void DisableSleeping();
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void EnableSleeping(bool enable);
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void FallAsleep();
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Boxf GetAABB() const;
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float GetAngularDamping() const;
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Vector3f GetAngularVelocity() const;
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inline const std::shared_ptr<BulletCollider3D>& GetGeom() 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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Matrix4f GetMatrix() const;
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Vector3f GetPosition() const;
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inline btRigidBody* GetRigidBody() const;
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Quaternionf GetRotation() const;
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inline std::size_t GetUniqueIndex() const;
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inline BulletPhysWorld3D* GetWorld() const;
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bool IsSimulationEnabled() const;
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bool IsSleeping() const;
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bool IsSleepingEnabled() const;
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void SetAngularDamping(float angularDamping);
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void SetAngularVelocity(const Vector3f& angularVelocity);
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void SetGeom(std::shared_ptr<BulletCollider3D> geom, bool recomputeInertia = true);
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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 SetPosition(const Vector3f& position);
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void SetPositionAndRotation(const Vector3f& position, const Quaternionf& rotation);
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void SetRotation(const Quaternionf& rotation);
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Quaternionf ToLocal(const Quaternionf& worldRotation);
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Vector3f ToLocal(const Vector3f& worldPosition);
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Quaternionf ToWorld(const Quaternionf& localRotation);
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Vector3f ToWorld(const Vector3f& localPosition);
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void WakeUp();
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BulletRigidBody3D& operator=(const BulletRigidBody3D& object) = delete;
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BulletRigidBody3D& operator=(BulletRigidBody3D&& object) noexcept;
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protected:
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void Destroy();
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private:
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std::shared_ptr<BulletCollider3D> m_geom;
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std::size_t m_bodyPoolIndex;
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btRigidBody* m_body;
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BulletPhysWorld3D* m_world;
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};
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}
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#include <Nazara/BulletPhysics3D/BulletRigidBody3D.inl>
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#endif // NAZARA_BULLETPHYSICS3D_BULLETRIGIDBODY3D_HPP
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