physenv.h

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/*
Copyright (c) 2019-2024 Alexander Scholz
 
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
 
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
 
1. The origin of this software must not be misrepresented; you must not
   claim that you wrote the original software. If you use this software
   in a product, an acknowledgment in the product documentation would be
   appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
   misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef YOURGAME_PHYSENV_H
#define YOURGAME_PHYSENV_H
 
#include <memory> // unique_ptr
#include <map>
#include <string>
#include "yourgame/math/trafo.h"
 
namespace yourgame
{
    namespace util
    {
        struct RigidBodyInfo
        {
            float mass = 1.0f;
            float linearDamping = 0.0f;
            float angularDamping = 0.0f;
            float friction = 0.5f;
            float rollingFriction = 0.0f;
            float spinningFriction = 0.0f;
            float restitution = 0.0f;
            float linearSleepingThreshold = 0.8f;
            float angularSleepingThreshold = 1.0f;
            bool kinematic = false;
            bool disableDeactivation = false;
        };
 
        class RigidBody
        {
        public:
            RigidBody(std::string name, void *body) : m_name(name), m_body(body) {}
 
            ~RigidBody();
 
            yourgame::math::Trafo getTrafo();
 
            void setTrafo(yourgame::math::Trafo trafo);
 
            void setRestitution(float restitution);
 
            void setFriction(float friction);
 
            void setSleepingThresholds(float linear, float angular);
 
            void setLinearFactors(float x, float y, float z);
 
            void setAngularFactor(float angFac);
 
            void setAngularFactors(float x, float y, float z);
 
            void applyCentralForce(float x, float y, float z);
 
            void applyCentralImpulse(float x, float y, float z);
 
            std::string m_name;
            void *const m_body;
        };
 
        class Collision
        {
        public:
            Collision(RigidBody *body0, RigidBody *body1, float impulse) : m_body0(body0),
                                                                           m_body1(body1),
                                                                           m_impulse(impulse) {}
            RigidBody *m_body0;
            RigidBody *m_body1;
            float m_impulse;
 
            bool involves(const std::string &name) const
            {
                return (m_body0->m_name == name) || (m_body1->m_name == name);
            }
 
            bool involves2(const std::string &nameA, const std::string &nameB) const
            {
                return ((m_body0->m_name == nameA) && (m_body1->m_name == nameB)) ||
                       ((m_body0->m_name == nameB) && (m_body1->m_name == nameA));
            }
        };
 
        class RayTestResult
        {
        public:
            RayTestResult(RigidBody *rigidBody) : m_rigidBody(rigidBody) {}
            RigidBody *m_rigidBody;
        };
 
        class PhysEnv
        {
        public:
            PhysEnv();
            ~PhysEnv();
 
            void setGravity(float x, float y, float z);
 
            bool newBoxShape(const std::string &name, float halfX, float halfY, float halfZ);
 
            bool newSphereShape(const std::string &name, float radius);
 
            bool newCylinderShape(const std::string &name, float radius, float height);
 
            bool newConeShape(const std::string &name, float radius, float height);
 
            bool deleteShape(const std::string &name);
 
            size_t clearShapes();
 
            size_t numShapes();
 
            bool newRigidBody(const std::string &name,
                              const std::string &shapeName,
                              const yourgame::math::Trafo &trafo,
                              const RigidBodyInfo &info);
 
            bool deleteRigidBody(const std::string &name);
 
            yourgame::util::RigidBody *getRigidBody(const std::string &name);
 
            std::vector<RigidBody *> getRigidBodiesStartingWith(const std::string &name);
 
            size_t clearRigidBodies();
 
            size_t numRigidBodies();
 
            void tick(float dt);
 
            std::vector<Collision> getCollisions();
 
            RayTestResult rayTest(float eyeX, float eyeY, float eyeZ, float targetX, float targetY, float targetZ);
 
        private:
            class impl;
            std::unique_ptr<impl> pimpl;
        };
    } // namespace util
} // namespace yourgame
 
#endif