lol/doc/samples/physics/easyphysics.h

//
//  Lol Engine
//
//  Copyright © 2010—2020 Sam Hocevar <sam@hocevar.net>
//            © 2009—2013 Benjamin “Touky” Huet <huet.benjamin@gmail.com>
//
//  This library is free software. It comes without any warranty, to
//  the extent permitted by applicable law. You can redistribute it
//  and/or modify it under the terms of the Do What the Fuck You Want
//  to Public License, Version 2, as published by the WTFPL Task Force.
//  See http://www.wtfpl.net/ for more details.
//

#pragma once

//
// The EasyPhysic class
// ------------------
//

#include <lol/engine.h>
#include <vector>

#include <btBulletDynamicsCommon.h>
#include <btBulletCollisionCommon.h>
#include <BulletCollision/CollisionDispatch/btGhostObject.h>

namespace lol
{

namespace phys
{

class EasyPhysic
{

    friend class Simulation;
    friend class EasyConstraint;

public:
    EasyPhysic(WorldEntity* NewOwnerEntity);
    ~EasyPhysic();

    virtual void SetShapeToBox(lol::vec3& box_size);
    virtual void SetShapeToSphere(float radius);
    virtual void SetShapeToCone(float radius, float height);
    virtual void SetShapeToCylinder(lol::vec3& cyl_size);
    virtual void SetShapeToCapsule(float radius, float height);

    virtual bool CanChangeCollisionChannel() { return (m_rigid_body == nullptr); }
    virtual mat4 GetTransform();
    virtual void SetTransform(const vec3& base_location, const quat& base_rotation = quat(mat3(1.0f)));
protected:
    virtual void BaseTransformChanged(const mat4& PreviousMatrix, const mat4& NewMatrix);
public:
    virtual void SetMass(float mass);
    virtual float GetMass() { return m_mass; }
    virtual void SetHitRestitution(float hit_restitution);
    virtual void InitBodyToRigid(bool ZeroMassIsKinematic=false);
    virtual void InitBodyToGhost();
    virtual void AddToSimulation(class Simulation* current_simulation);
    virtual void RemoveFromSimulation(class Simulation* current_simulation);

    //Force/Impulse functions
    virtual void AddImpulse(const lol::vec3& impulse);
    virtual void AddImpulse(const lol::vec3& impulse, const lol::vec3& rel_pos);
      virtual void AddImpulseTorque(const lol::vec3& torque);
    virtual void AddForce(const lol::vec3& force);
    virtual void AddForce(const lol::vec3& force, const lol::vec3& rel_pos);
    virtual void AddForceTorque(const lol::vec3& torque);

    //Movements getter
    lol::vec3 GetLinearVelocity() const;
    lol::vec3 GetLinearForce() const;
    lol::vec3 GetAngularVelocity() const;
    lol::vec3 GetAngularForce() const;

protected:
    virtual void SetLocalInertia(float mass);
    virtual void SetShapeTo(btCollisionShape* collision_shape);

    virtual btGhostObject* GetGhostObjectInstance();

    btCollisionObject *m_collision_object;

    btGhostObject *m_ghost_object;

    btRigidBody *m_rigid_body;
    btVector3 m_local_inertia;

    btCollisionShape *m_collision_shape;
    btConvexShape *m_convex_shape;
    btMotionState *m_motion_state;

public:
    //Sets the collision Group & Mask.
    //Mask can change at runtime, not group !
    virtual bool SetCollisionChannel(int NewGroup, int NewMask)
    {
        if (CanChangeCollisionChannel())
        {
            m_collision_group = (1 << NewGroup);
            m_collision_mask = NewMask;
            return true;
        }
        return false;
    }
    int GetCollisionGroup() { return m_collision_group; }
    int GetCollisionMask()    { return m_collision_mask; }

    //Base/Attachment logic
    virtual void AttachTo(EasyPhysic* NewBase, bool NewBaseLockLocation = true, bool NewBaseLockRotation = true)
    {
        if (NewBase == this || (NewBase && NewBase->m_base_physic == this))
            return;

        if (NewBase)
        {
            bool bAlreadyExists = false;
            for (size_t i = 0; i < NewBase->m_based_physic_list.size(); ++i)
                if (NewBase->m_based_physic_list[i] == this)
                    bAlreadyExists = true;
            if (!bAlreadyExists)
                NewBase->m_based_physic_list.push_back(this);
            m_base_physic = NewBase;
            m_base_lock_location = NewBaseLockLocation;
            m_base_lock_rotation = NewBaseLockRotation;
        }
        else if (m_base_physic)
        {
            for (size_t i = 0; i < m_base_physic->m_based_physic_list.size(); ++i)
                if (m_base_physic->m_based_physic_list[i] == this)
                    remove_at(m_base_physic->m_based_physic_list, i--);
            m_base_physic = nullptr;
        }
    }

protected:
    lol::mat4 m_local_to_world;
    float m_mass;
    float m_hit_restitution;
    int m_collision_group;
    int m_collision_mask;
    WorldEntity *m_owner_entity;
    Simulation *m_owner_simulation;

    //Base/Attachment logic
    std::vector<EasyPhysic*> m_based_physic_list;     //List of objects based on this : this object moves, its based object MoveStep with it.
    EasyPhysic *m_base_physic;           //Base for this object : The base moves, the object moves with it.
    bool m_base_lock_location;    //when this is TRUE, location moves with rotation change.
    bool m_base_lock_rotation;    //when this is TRUE, rotation moves with rotation change.

    //Touch logic
    std::vector<EasyPhysic*> m_touching_physic;        //Maintained by ghost objects
};

} /* namespace phys */

} /* namespace lol */