85 lines
2.6 KiB
C++
85 lines
2.6 KiB
C++
// Copyright (C) 2017 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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#pragma once
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#ifndef NAZARA_RIGIDBODY3D_HPP
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#define NAZARA_RIGIDBODY3D_HPP
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#include <Nazara/Prerequesites.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 <Nazara/Physics3D/Config.hpp>
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#include <Nazara/Physics3D/Collider3D.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, Collider3DRef geom, const Matrix4f& mat = Matrix4f::Identity());
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RigidBody3D(const RigidBody3D& object);
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RigidBody3D(RigidBody3D&& object);
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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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Boxf GetAABB() const;
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Vector3f GetAngularVelocity() const;
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const Collider3DRef& GetGeom() const;
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float GetGravityFactor() const;
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NewtonBody* GetHandle() const;
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float GetMass() const;
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Vector3f GetMassCenter(CoordSys coordSys = CoordSys_Local) const;
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const Matrix4f& GetMatrix() const;
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Vector3f GetPosition() const;
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Quaternionf GetRotation() const;
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Vector3f GetVelocity() 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 IsSleeping() const;
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void SetAngularVelocity(const Vector3f& angularVelocity);
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void SetGeom(Collider3DRef geom);
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void SetGravityFactor(float gravityFactor);
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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 SetRotation(const Quaternionf& rotation);
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void SetVelocity(const Vector3f& velocity);
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RigidBody3D& operator=(const RigidBody3D& object);
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RigidBody3D& operator=(RigidBody3D&& object);
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private:
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void UpdateBody();
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static void ForceAndTorqueCallback(const NewtonBody* body, float timeStep, int threadIndex);
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static void TransformCallback(const NewtonBody* body, const float* matrix, int threadIndex);
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Collider3DRef m_geom;
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Matrix4f m_matrix;
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Vector3f m_forceAccumulator;
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Vector3f m_torqueAccumulator;
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NewtonBody* m_body;
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PhysWorld3D* m_world;
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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_RIGIDBODY3D_HPP
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