727 lines
20 KiB
C++
727 lines
20 KiB
C++
// Copyright (C) 2020 Jérôme Leclercq
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// This file is part of the "Nazara Development Kit"
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// For conditions of distribution and use, see copyright notice in Prerequisites.hpp
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#include <NazaraSDK/Components/PhysicsComponent2D.hpp>
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#include <Nazara/Core/Error.hpp>
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namespace Ndk
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{
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/*!
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* \brief Constructs a PhysicsComponent2D object by default
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*/
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inline PhysicsComponent2D::PhysicsComponent2D() :
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m_nodeSynchronizationEnabled(true)
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{
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}
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/*!
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* \brief Constructs a PhysicsComponent2D object by copy semantic
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*
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* \param physics PhysicsComponent2D to copy
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*/
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inline PhysicsComponent2D::PhysicsComponent2D(const PhysicsComponent2D& physics) :
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m_nodeSynchronizationEnabled(physics.m_nodeSynchronizationEnabled)
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{
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CopyPhysicsState(*physics.GetRigidBody());
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}
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/*!
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* \brief Applies a physics force to the entity
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*
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* \param force Force to apply on the entity
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* \param coordSys System coordinates to consider
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline void PhysicsComponent2D::AddForce(const Nz::Vector2f& force, Nz::CoordSys coordSys)
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{
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NazaraAssert(m_object, "Invalid physics object");
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m_object->AddForce(force, coordSys);
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}
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/*!
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* \brief Applies a physics force to the entity
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*
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* \param force Force to apply on the entity
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* \param point Point where to apply the force
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* \param coordSys System coordinates to consider
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline void PhysicsComponent2D::AddForce(const Nz::Vector2f& force, const Nz::Vector2f& point, Nz::CoordSys coordSys)
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{
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NazaraAssert(m_object, "Invalid physics object");
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m_object->AddForce(force, point, coordSys);
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}
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/*!
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* \brief Applies a impulse to the entity
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*
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* \param impulse Impulse to apply on the entity
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline void PhysicsComponent2D::AddImpulse(const Nz::Vector2f& impulse, Nz::CoordSys coordSys)
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{
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NazaraAssert(m_object, "Invalid physics object");
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m_object->AddImpulse(impulse, coordSys);
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}
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/*!
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* \brief Applies a impulse to the entity
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*
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* \param impulse Impulse to apply on the entity
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* \param point Point where the impulse is applied
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline void PhysicsComponent2D::AddImpulse(const Nz::Vector2f& impulse, const Nz::Vector2f& point, Nz::CoordSys coordSys)
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{
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NazaraAssert(m_object, "Invalid physics object");
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m_object->AddImpulse(impulse, point, coordSys);
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}
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/*!
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* \brief Applies a torque to the entity
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*
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* \param torque Torque to apply on the entity
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline void PhysicsComponent2D::AddTorque(const Nz::RadianAnglef& torque)
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{
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NazaraAssert(m_object, "Invalid physics object");
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m_object->AddTorque(torque);
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}
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/*!
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* \brief Finds the closest point on the entity relative to a position
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* \return True if such a point exists (will return false if no collider exists)
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*
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* \param position The starting point which will be used for the query
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* \param closestPoint The closest point on entity surface
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* \param closestDistance The distance between the closest point and the starting point, may be negative if starting point is inside the entity
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline bool PhysicsComponent2D::ClosestPointQuery(const Nz::Vector2f& position, Nz::Vector2f* closestPoint, float* closestDistance) const
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->ClosestPointQuery(position, closestPoint, closestDistance);
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}
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/*!
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* \brief Enables position/rotation synchronization with the NodeComponent
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*
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* By default, at every update of the PhysicsSystem2D, the NodeComponent's position and rotation (if any) will be synchronized with
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* the values of the PhysicsComponent2D. This function allows to enable/disable this behavior on a per-entity basis.
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*
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* \param nodeSynchronization Should synchronization occur between NodeComponent and PhysicsComponent2D
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*/
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inline void PhysicsComponent2D::EnableNodeSynchronization(bool nodeSynchronization)
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{
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m_nodeSynchronizationEnabled = nodeSynchronization;
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if (m_entity)
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m_entity->Invalidate();
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}
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/*!
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TODO
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*/
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inline void PhysicsComponent2D::ForceSleep()
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->ForceSleep();
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}
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/*!
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TODO
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*/
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inline void PhysicsComponent2D::ForEachArbiter(const std::function<void(Nz::Arbiter2D&)>& callback)
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->ForEachArbiter(callback);
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}
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/*!
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* \brief Gets the AABB of the physics object
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* \return AABB of the object
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline Nz::Rectf PhysicsComponent2D::GetAABB() const
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->GetAABB();
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}
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/*!
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* \brief Gets the angular damping or moment of inertia of the physics object
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* \return Angular damping of the object
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*
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* \see GetMomentOfInertia
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*/
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inline float PhysicsComponent2D::GetAngularDamping() const
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->GetAngularDamping();
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}
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/*!
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* \brief Gets the angular velocity of the physics object
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* \return Angular velocity of the object
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline Nz::RadianAnglef PhysicsComponent2D::GetAngularVelocity() const
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->GetAngularVelocity();
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}
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/*!
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* \brief Gets the gravity center of the physics object
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* \return Gravity center of the object
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*
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* \param coordSys System coordinates to consider
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline Nz::Vector2f PhysicsComponent2D::GetCenterOfGravity(Nz::CoordSys coordSys) const
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->GetMassCenter(coordSys);
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}
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/*!
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* \brief Gets the elasticity of a shape belonging to this physics object
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* \return Elasticity of the shape
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*
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* \param shapeIndex Shape index of the collider we're interested
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline float PhysicsComponent2D::GetElasticity(std::size_t shapeIndex) const
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->GetElasticity(shapeIndex);
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}
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/*!
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* \brief Gets the friction of a shape belonging to this physics object
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* \return Friction of the shape
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*
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* \param shapeIndex Shape index of the collider we're interested
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline float PhysicsComponent2D::GetFriction(std::size_t shapeIndex) const
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->GetFriction(shapeIndex);
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}
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/*!
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* \brief Gets the mass of the physics object
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* \return Mass of the object
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline float PhysicsComponent2D::GetMass() const
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->GetMass();
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}
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/*!
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* \brief Gets the gravity center of the physics object
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* \return Gravity center of the object
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*
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* \param coordSys System coordinates to consider
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline Nz::Vector2f PhysicsComponent2D::GetMassCenter(Nz::CoordSys coordSys) const
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->GetMassCenter(coordSys);
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}
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/*!
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* \brief Gets the angular damping or moment of inertia of the physics object
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* \return Moment of inertia of the object
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*
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* \see GetAngularDamping
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*/
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inline float PhysicsComponent2D::GetMomentOfInertia() const
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->GetMomentOfInertia();
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}
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/*!
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* \brief Gets the position of the physics object
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* \return Position of the object
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline Nz::Vector2f PhysicsComponent2D::GetPosition() const
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->GetPosition();
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}
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/*!
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* \brief Gets the rotation of the physics object
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* \return Rotation of the object
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline Nz::RadianAnglef PhysicsComponent2D::GetRotation() const
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->GetRotation();
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}
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/*!
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* \brief Gets the surface velocity of a shape belonging to this physics object
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* \return Surface velocity of the shape
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*
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* \param shapeIndex Shape index of the collider we're interested
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline Nz::Vector2f PhysicsComponent2D::GetSurfaceVelocity(std::size_t shapeIndex) const
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{
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return m_object->GetSurfaceVelocity(shapeIndex);
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}
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/*!
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* \brief Gets the rotation of the physics object
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* \return Shape count of the object
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline std::size_t PhysicsComponent2D::GetShapeCount() const
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{
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return m_object->GetShapeCount();
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}
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/*!
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* \brief Gets the velocity of the physics object
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* \return Velocity of the object
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline Nz::Vector2f PhysicsComponent2D::GetVelocity() const
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->GetVelocity();
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}
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/*!
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* \brief Gets the custom velocity function of the physics object
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* \return Velocity function of the object (may be empty if default function is used)
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline auto PhysicsComponent2D::GetVelocityFunction() const -> const VelocityFunc&
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->GetVelocityFunction();
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}
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/*!
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* \brief Checks if position & rotation are synchronized with NodeComponent
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* \return true If synchronization is enabled
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*
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* \see EnableNodeSynchronization
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*/
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inline bool PhysicsComponent2D::IsNodeSynchronizationEnabled() const
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{
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return m_nodeSynchronizationEnabled;
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}
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/*!
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* \brief Checks whether the entity is currently sleeping
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* \return true If it is the case
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline bool PhysicsComponent2D::IsSleeping() const
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->IsSleeping();
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}
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/*!
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* \brief Checks if this component is bound to a valid rigid body
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*
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* A component may not be bound to a rigid body if the component is not bound to an entity or if this entity is being destroyed
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*
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* \return true If bound, false otherwise
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*/
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inline bool PhysicsComponent2D::IsValid() const
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{
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return bool(m_object);
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}
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/*!
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* \brief Reset velocity function to default one
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline void PhysicsComponent2D::ResetVelocityFunction()
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{
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NazaraAssert(m_object, "Invalid physics object");
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return m_object->ResetVelocityFunction();
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}
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/*!
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* \brief Sets the angular damping or moment of inertia of the physics object
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*
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* \param angularDamping Angular damping of the object
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*
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* \see SetMomentOfInertia
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*/
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inline void PhysicsComponent2D::SetAngularDamping(float angularDamping)
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{
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NazaraAssert(m_object, "Invalid physics object");
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m_object->SetAngularDamping(angularDamping);
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}
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/*!
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* \brief Sets the angular velocity of the physics object
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*
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* \param angularVelocity Angular velocity of the object
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline void PhysicsComponent2D::SetAngularVelocity(const Nz::RadianAnglef& angularVelocity)
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{
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NazaraAssert(m_object, "Invalid physics object");
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m_object->SetAngularVelocity(angularVelocity);
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}
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/*!
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* \brief Sets the elasticity of the whole physics object
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*
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* Overrides all shapes elasticity with a single value
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*
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* \param elasticity Elasticity to be applied
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*
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* \remark Elasticity must be positive or zero
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*/
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inline void PhysicsComponent2D::SetElasticity(float elasticity)
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{
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NazaraAssert(m_object, "Invalid physics object");
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NazaraAssert(elasticity >= 0.f, "Friction must be positive");
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m_object->SetElasticity(elasticity);
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}
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/*!
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* \brief Sets the elasticity of a single shape of the physics object
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*
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* \param shapeIndex Target shape index
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* \param elasticity Elasticity to be applied
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*
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* \remark Elasticity must be positive or zero
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*/
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inline void PhysicsComponent2D::SetElasticity(std::size_t shapeIndex, float elasticity)
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{
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NazaraAssert(m_object, "Invalid physics object");
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NazaraAssert(elasticity >= 0.f, "Friction must be positive");
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m_object->SetElasticity(shapeIndex, elasticity);
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}
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/*!
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* \brief Sets the friction of the whole physics object
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*
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* Overrides all shapes friction with a single value
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*
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* \param friction Friction to be applied
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*
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* \remark Friction must be positive or zero
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*/
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inline void PhysicsComponent2D::SetFriction(float friction)
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{
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NazaraAssert(m_object, "Invalid physics object");
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NazaraAssert(friction >= 0.f, "Friction must be positive");
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m_object->SetFriction(friction);
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}
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/*!
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* \brief Sets the friction of a single shape of the physics object
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*
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* \param shapeIndex Target shape index
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* \param friction Friction to be applied
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*
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* \remark Friction must be positive or zero
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*/
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inline void PhysicsComponent2D::SetFriction(std::size_t shapeIndex, float friction)
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{
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NazaraAssert(m_object, "Invalid physics object");
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NazaraAssert(friction >= 0.f, "Friction must be positive");
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m_object->SetFriction(shapeIndex, friction);
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}
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/*!
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* \brief Sets the mass of the physics object
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*
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* \param mass Mass of the object
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* \param recomputeMoment Should the moment of inertia be recomputed according to the new mass
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*
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* \remark Mass must be positive or zero
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*/
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inline void PhysicsComponent2D::SetMass(float mass, bool recomputeMoment)
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{
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NazaraAssert(m_object, "Invalid physics object");
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NazaraAssert(mass >= 0.f, "Mass should be positive");
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m_object->SetMass(mass, recomputeMoment);
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}
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/*!
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* \brief Sets the gravity center of the physics object
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*
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* \param center Gravity center of the object
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline void PhysicsComponent2D::SetMassCenter(const Nz::Vector2f& center, Nz::CoordSys coordSys)
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{
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NazaraAssert(m_object, "Invalid physics object");
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m_object->SetMassCenter(center, coordSys);
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}
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/*!
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* \brief Sets the angular damping or moment of inertia of the physics object
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*
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* \param moment Moment of inertia of the object
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*
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* \see SetAngularDamping
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*/
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inline void PhysicsComponent2D::SetMomentOfInertia(float moment)
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{
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NazaraAssert(m_object, "Invalid physics object");
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m_object->SetMomentOfInertia(moment);
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}
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/*!
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* \brief Sets the position of the physics object
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*
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* \param position Position of the object
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*
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* \remark Produces a NazaraAssert if the physics object is invalid
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*/
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inline void PhysicsComponent2D::SetPosition(const Nz::Vector2f& position)
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{
|
|
NazaraAssert(m_object, "Invalid physics object");
|
|
|
|
m_object->SetPosition(position);
|
|
}
|
|
|
|
/*!
|
|
* \brief Sets the rotation of the physics object
|
|
*
|
|
* \param rotation Rotation of the object
|
|
*
|
|
* \remark Produces a NazaraAssert if the physics object is invalid
|
|
*/
|
|
inline void PhysicsComponent2D::SetRotation(const Nz::RadianAnglef& rotation)
|
|
{
|
|
NazaraAssert(m_object, "Invalid physics object");
|
|
|
|
m_object->SetRotation(rotation);
|
|
}
|
|
|
|
/*!
|
|
* \brief Sets the surface velocity of the whole physics object
|
|
*
|
|
* Overrides all shapes surface velocity with a single value
|
|
*
|
|
* \param velocity Surface velocity to be applied
|
|
*/
|
|
inline void PhysicsComponent2D::SetSurfaceVelocity(const Nz::Vector2f& velocity)
|
|
{
|
|
NazaraAssert(m_object, "Invalid physics object");
|
|
|
|
m_object->SetSurfaceVelocity(velocity);
|
|
}
|
|
|
|
/*!
|
|
* \brief Sets the surface velocity of a single shape of the physics object
|
|
*
|
|
* \param shapeIndex Target shape index
|
|
* \param velocity Surface velocity to be applied
|
|
*/
|
|
inline void PhysicsComponent2D::SetSurfaceVelocity(std::size_t shapeIndex, const Nz::Vector2f& velocity)
|
|
{
|
|
NazaraAssert(m_object, "Invalid physics object");
|
|
|
|
m_object->SetSurfaceVelocity(shapeIndex, velocity);
|
|
}
|
|
|
|
/*!
|
|
* \brief Sets the velocity of the physics object
|
|
*
|
|
* \param velocity Velocity of the object
|
|
*/
|
|
inline void PhysicsComponent2D::SetVelocity(const Nz::Vector2f& velocity)
|
|
{
|
|
NazaraAssert(m_object, "Invalid physics object");
|
|
|
|
m_object->SetVelocity(velocity);
|
|
}
|
|
|
|
/*!
|
|
* \brief Sets a custom velocity function for the physics object
|
|
*
|
|
* A velocity function is called (for non-kinematic and non-static objects) at every physics update to compute the new velocity of the object.
|
|
* You may call UpdateVelocity (the default velocity function) to let the physics engine compute that itself and then adjust it using GetVelocity/SetVelocity as you need.
|
|
*
|
|
* \param velocityFunc New custom velocity function
|
|
*
|
|
* \remark Passing an empty VelocityFunc has the same effect as calling ResetVelocityFunction
|
|
* \see ResetVelocityFunction
|
|
* \see UpdateVelocity
|
|
*/
|
|
inline void PhysicsComponent2D::SetVelocityFunction(VelocityFunc velocityFunc)
|
|
{
|
|
NazaraAssert(m_object, "Invalid physics object");
|
|
|
|
m_object->SetVelocityFunction(std::move(velocityFunc));
|
|
}
|
|
|
|
/*!
|
|
* \brief Calls the physics engine default velocity function
|
|
*
|
|
* \param gravity Physics system gravity
|
|
* \param damping Physics system damping (adjusted to deltaTime)
|
|
* \param deltaTime Elapsed time since last physics update
|
|
*/
|
|
inline void PhysicsComponent2D::UpdateVelocity(const Nz::Vector2f& gravity, float damping, float deltaTime)
|
|
{
|
|
NazaraAssert(m_object, "Invalid physics object");
|
|
|
|
m_object->UpdateVelocity(gravity, damping, deltaTime);
|
|
}
|
|
|
|
/*!
|
|
TODO
|
|
*/
|
|
inline void PhysicsComponent2D::Wakeup()
|
|
{
|
|
NazaraAssert(m_object, "Invalid physics object");
|
|
|
|
return m_object->Wakeup();
|
|
}
|
|
|
|
inline void PhysicsComponent2D::ApplyPhysicsState(Nz::RigidBody2D& rigidBody) const
|
|
{
|
|
assert(m_pendingStates.valid);
|
|
|
|
rigidBody.SetAngularVelocity(m_pendingStates.angularVelocity);
|
|
rigidBody.SetMass(m_pendingStates.mass);
|
|
rigidBody.SetMassCenter(m_pendingStates.massCenter);
|
|
rigidBody.SetMomentOfInertia(m_pendingStates.momentOfInertia);
|
|
rigidBody.SetVelocity(m_pendingStates.velocity);
|
|
rigidBody.SetVelocityFunction(m_pendingStates.velocityFunc);
|
|
|
|
for (std::size_t i = 0; i < m_pendingStates.shapes.size(); ++i)
|
|
{
|
|
auto& shapeData = m_pendingStates.shapes[i];
|
|
rigidBody.SetElasticity(i, shapeData.elasticity);
|
|
rigidBody.SetFriction(i, shapeData.friction);
|
|
rigidBody.SetSurfaceVelocity(i, shapeData.surfaceVelocity);
|
|
}
|
|
}
|
|
|
|
inline void PhysicsComponent2D::CopyPhysicsState(const Nz::RigidBody2D& rigidBody)
|
|
{
|
|
m_pendingStates.valid = true;
|
|
|
|
m_pendingStates.angularVelocity = rigidBody.GetAngularVelocity();
|
|
m_pendingStates.mass = rigidBody.GetMass();
|
|
m_pendingStates.massCenter = rigidBody.GetMassCenter();
|
|
m_pendingStates.momentOfInertia = rigidBody.GetMomentOfInertia();
|
|
m_pendingStates.velocity = rigidBody.GetVelocity();
|
|
m_pendingStates.velocityFunc = rigidBody.GetVelocityFunction();
|
|
|
|
m_pendingStates.shapes.resize(rigidBody.GetShapeCount());
|
|
for (std::size_t i = 0; i < m_pendingStates.shapes.size(); ++i)
|
|
{
|
|
auto& shapeData = m_pendingStates.shapes[i];
|
|
shapeData.elasticity = rigidBody.GetElasticity(i);
|
|
shapeData.friction = rigidBody.GetFriction(i);
|
|
shapeData.surfaceVelocity = rigidBody.GetSurfaceVelocity(i);
|
|
}
|
|
}
|
|
|
|
/*!
|
|
* \brief Gets the underlying physics object
|
|
* \return A reference to the physics object
|
|
*/
|
|
inline Nz::RigidBody2D* PhysicsComponent2D::GetRigidBody()
|
|
{
|
|
return m_object.get();
|
|
}
|
|
|
|
inline const Nz::RigidBody2D* PhysicsComponent2D::GetRigidBody() const
|
|
{
|
|
return m_object.get();
|
|
}
|
|
}
|