axmol/core/physics3d/Physics3DObject.h

/****************************************************************************
 Copyright (c) 2015-2016 Chukong Technologies Inc.
 Copyright (c) 2017-2018 Xiamen Yaji Software Co., Ltd.

 https://axmolengine.github.io/

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#ifndef __PHYSICS_3D_OBJECT_H__
#define __PHYSICS_3D_OBJECT_H__

#include "math/Math.h"
#include "base/Ref.h"
#include "base/Config.h"

#include <vector>

#if AX_USE_3D_PHYSICS

#    if (AX_ENABLE_BULLET_INTEGRATION)

class btCollisionShape;
class btRigidBody;
class btPersistentManifold;
class btGhostObject;

NS_AX_BEGIN
/**
 * @addtogroup _3d
 * @{
 */

class Physics3DShape;
class Physics3DWorld;
class Physics3DConstraint;
class Physics3DObject;
/**
 * @brief The collision information of Physics3DObject.
 */
struct AX_DLL Physics3DCollisionInfo
{
    struct CollisionPoint
    {
        Vec3 localPositionOnA;
        Vec3 worldPositionOnA;
        Vec3 localPositionOnB;
        Vec3 worldPositionOnB;
        Vec3 worldNormalOnB;
    };

    Physics3DObject* objA;
    Physics3DObject* objB;
    std::vector<CollisionPoint> collisionPointList;
};
/**
 * @brief Inherit from Ref, base class
 */
class AX_DLL Physics3DObject : public Ref
{
public:
    typedef std::function<void(const Physics3DCollisionInfo& ci)> CollisionCallbackFunc;

    enum class PhysicsObjType
    {
        UNKNOWN = 0,
        RIGID_BODY,
        COLLIDER,
    };

    /** Get the Physics3DObject Type. */
    virtual PhysicsObjType getObjType() const { return _type; }

    /** Set the user data. */
    void setUserData(void* userData) { _userData = userData; }

    /** Get the user data. */
    void* getUserData() const { return _userData; }

    /** Internal method. Set the pointer of Physics3DWorld. */
    void setPhysicsWorld(Physics3DWorld* world) { _physicsWorld = world; };

    /** Get the pointer of Physics3DWorld. */
    Physics3DWorld* getPhysicsWorld() const { return _physicsWorld; }

    /** Get the world matrix of Physics3DObject. */
    virtual ax::Mat4 getWorldTransform() const = 0;

    /** Set the collision callback function. */
    void setCollisionCallback(const CollisionCallbackFunc& func) { _collisionCallbackFunc = func; };

    /** Get the collision callback function. */
    const CollisionCallbackFunc& getCollisionCallback() const { return _collisionCallbackFunc; }

    /** Check has collision callback function. */
    bool needCollisionCallback() { return _collisionCallbackFunc != nullptr; };

    /** Set the mask of Physics3DObject. */
    void setMask(unsigned int mask) { _mask = mask; };

    /** Get the mask of Physics3DObject. */
    unsigned int getMask() const { return _mask; };

    Physics3DObject()
        : _isEnabled(true), _type(PhysicsObjType::UNKNOWN), _userData(nullptr), _physicsWorld(nullptr), _mask(-1)
    {}
    virtual ~Physics3DObject() {}

protected:
    bool _isEnabled;
    PhysicsObjType _type;
    void* _userData;
    Physics3DWorld* _physicsWorld;
    CollisionCallbackFunc _collisionCallbackFunc;
    unsigned int _mask;
};

/**
 * @brief The description of Physics3DRigidBody.
 */
struct AX_DLL Physics3DRigidBodyDes
{
    float mass;                  // Note: mass equals zero means static, default 0
    ax::Vec3 localInertia;  // default (0, 0, 0)
    Physics3DShape* shape;
    ax::Mat4 originalTransform;
    bool disableSleep;  // it is always active if disabled

    Physics3DRigidBodyDes() : mass(0.f), localInertia(0.f, 0.f, 0.f), shape(nullptr), disableSleep(false) {}
};

/**
 * @brief Inherit from Physics3DObject, the main class for rigid body objects
 */
class AX_DLL Physics3DRigidBody : public Physics3DObject
{
    friend class Physics3DWorld;

public:
    /**
     * Creates a Physics3DRigidBody with Physics3DRigidBody.
     *
     * @return An autoreleased Physics3DRigidBody object.
     */
    static Physics3DRigidBody* create(Physics3DRigidBodyDes* info);

    /** Get the pointer of btRigidBody. */
    btRigidBody* getRigidBody() const { return _btRigidBody; }

    /**
     * Apply a force.
     *
     * @param   force the value of the force
     * @param   rel_pos the position of the force
     */
    void applyForce(const ax::Vec3& force, const ax::Vec3& rel_pos);

    /**
     * Apply a central force.
     *
     * @param   force the value of the force
     */
    void applyCentralForce(const ax::Vec3& force);

    /**
     * Apply a central impulse.
     *
     * @param   impulse the value of the impulse
     */
    void applyCentralImpulse(const ax::Vec3& impulse);

    /**
     * Apply a torque.
     *
     * @param   torque the value of the torque
     */
    void applyTorque(const ax::Vec3& torque);

    /**
     * Apply a torque impulse.
     *
     * @param   torque the value of the torque
     */
    void applyTorqueImpulse(const ax::Vec3& torque);

    /**
     * Apply a impulse.
     *
     * @param   impulse the value of the impulse
     * @param   rel_pos the position of the impulse
     */
    void applyImpulse(const ax::Vec3& impulse, const ax::Vec3& rel_pos);

    /** Damps the velocity, using the given linearDamping and angularDamping. */
    void applyDamping(float timeStep);

    /** Set the linear velocity. */
    void setLinearVelocity(const ax::Vec3& lin_vel);

    /** Get the linear velocity. */
    ax::Vec3 getLinearVelocity() const;

    /** Set the linear factor. */
    void setLinearFactor(const ax::Vec3& linearFactor);

    /** Get the linear factor. */
    ax::Vec3 getLinearFactor() const;

    /** Set the angular factor. */
    void setAngularFactor(const ax::Vec3& angFac);

    /** Set the angular factor, use unified factor. */
    void setAngularFactor(float angFac);

    /** Get the angular factor. */
    ax::Vec3 getAngularFactor() const;

    /** Set the angular velocity. */
    void setAngularVelocity(const ax::Vec3& ang_vel);

    /** Get the angular velocity. */
    ax::Vec3 getAngularVelocity() const;

    /** Set the center of mass. */
    void setCenterOfMassTransform(const ax::Mat4& xform);

    /** Get the center of mass. */
    ax::Mat4 getCenterOfMassTransform() const;

    /** Set linear damping and angular damping. */
    void setDamping(float lin_damping, float ang_damping);

    /** Get linear damping. */
    float getLinearDamping() const;

    /** Get angular damping. */
    float getAngularDamping() const;

    /** Set the acceleration. */
    void setGravity(const ax::Vec3& acceleration);

    /** Get the acceleration. */
    ax::Vec3 getGravity() const;

    /** Set the inverse of local inertia. */
    void setInvInertiaDiagLocal(const ax::Vec3& diagInvInertia);

    /** Get the inverse of local inertia. */
    ax::Vec3 getInvInertiaDiagLocal() const;

    /** Set mass and inertia. */
    void setMassProps(float mass, const ax::Vec3& inertia);

    /** Get inverse of mass. */
    float getInvMass() const;

    /** Get total force. */
    ax::Vec3 getTotalForce() const;

    /** Get total torque. */
    ax::Vec3 getTotalTorque() const;

    /** Set restitution. */
    void setRestitution(float rest);

    /** Get restitution. */
    float getRestitution() const;

    /** Set friction. */
    void setFriction(float frict);

    /** Get friction. */
    float getFriction() const;

    /** Set rolling friction. */
    void setRollingFriction(float frict);

    /** Get rolling friction. */
    float getRollingFriction() const;

    /** Set hit friction. */
    void setHitFraction(float hitFraction);

    /** Get hit friction. */
    float getHitFraction() const;

    /** Set motion threshold, don't do continuous collision detection if the motion (in one step) is less then
     * ccdMotionThreshold */
    void setCcdMotionThreshold(float ccdMotionThreshold);

    /** Get motion threshold. */
    float getCcdMotionThreshold() const;

    /** Set swept sphere radius. */
    void setCcdSweptSphereRadius(float radius);

    /** Get swept sphere radius. */
    float getCcdSweptSphereRadius() const;

    /** Set kinematic object. */
    void setKinematic(bool kinematic);

    /** Check rigid body is kinematic object. */
    bool isKinematic() const;

    /** override. */
    virtual ax::Mat4 getWorldTransform() const override;

    /** Get constraint by index. */
    Physics3DConstraint* getConstraint(unsigned int idx) const;

    /** Get the total number of constraints. */
    unsigned int getConstraintCount() const;

    /** Active or inactive. */
    void setActive(bool active);

    Physics3DRigidBody();
    virtual ~Physics3DRigidBody();

    bool init(Physics3DRigidBodyDes* info);

    void addConstraint(Physics3DConstraint* constraint);
    void removeConstraint(Physics3DConstraint* constraint);
    void removeConstraint(unsigned int idx);

protected:
    btRigidBody* _btRigidBody;
    Physics3DShape* _physics3DShape;
    std::vector<Physics3DConstraint*> _constraintList;
};

/**
 * @brief The description of Physics3DCollider.
 */
struct AX_DLL Physics3DColliderDes
{
    /**shape pointer*/
    Physics3DShape* shape;
    /**original world Transform*/
    ax::Mat4 originalTransform;
    /**Is collider a trigger?*/
    bool isTrigger;
    /**the friction*/
    float friction;
    /**the rolling friction*/
    float rollingFriction;
    /**the restitution*/
    float restitution;
    /**the hit fraction*/
    float hitFraction;
    /**the swept sphere radius*/
    float ccdSweptSphereRadius;
    /**the motion threshold*/
    float ccdMotionThreshold;

    Physics3DColliderDes()
        : shape(nullptr)
        , isTrigger(false)
        , friction(0.5f)
        , rollingFriction(0.0f)
        , restitution(0.0f)
        , hitFraction(1.0f)
        , ccdSweptSphereRadius(0.0f)
        , ccdMotionThreshold(0.0f)
    {}
};

/**
 * @brief Inherit from Physics3DObject, the main class for Colliders.
 */
class AX_DLL Physics3DCollider : public Physics3DObject
{
public:
    /**
     * Creates a Physics3DCollider with Physics3DColliderDes.
     *
     * @return An autoreleased Physics3DCollider object.
     */
    static Physics3DCollider* create(Physics3DColliderDes* info);

    /** Get the pointer of btGhostObject.
     *  @return The pointer of btGhostObject.
     */
    btGhostObject* getGhostObject() const { return _btGhostObject; }

    /** Set trigger.
     *  @param isTrigger Is a trigger.
     */
    void setTrigger(bool isTrigger);

    /** Check is a trigger.
     *  @return Is a trigger.
     */
    bool isTrigger() const;

    /** Set restitution.
     *  @param rest The restitution.
     */
    void setRestitution(float rest);

    /** Get restitution.
     *  @return The restitution.
     */
    float getRestitution() const;

    /** Set friction.
     *  @param frict The friction.
     */
    void setFriction(float frict);

    /** Get friction.
     *  @return The friction.
     */
    float getFriction() const;

    /** Set rolling friction.
     *  @param frict The rolling friction.
     */
    void setRollingFriction(float frict);

    /** Get rolling friction.
     *  @return The rolling friction.
     */
    float getRollingFriction() const;

    /** Set hit friction.
     *  @param hitFraction The hit friction.
     */
    void setHitFraction(float hitFraction);

    /** Get hit friction.
     *  @return The hit friction.
     */
    float getHitFraction() const;

    /** Set motion threshold, don't do continuous collision detection if the motion (in one step) is less then
     * ccdMotionThreshold.
     *  @param ccdMotionThreshold The motion threshold.
     */
    void setCcdMotionThreshold(float ccdMotionThreshold);

    /** Get motion threshold.
     *  @return The motion threshold.
     */
    float getCcdMotionThreshold() const;

    /** Set swept sphere radius.
     *  @param radius The swept sphere radius.
     */
    void setCcdSweptSphereRadius(float radius);

    /** Get swept sphere radius.
     *  @return The swept sphere radius.
     */
    float getCcdSweptSphereRadius() const;

    /** override. */
    virtual ax::Mat4 getWorldTransform() const;

    /** Set a callback when trigger enter. */
    std::function<void(Physics3DObject* otherObject)> onTriggerEnter;

    /** Set a callback when trigger exit. */
    std::function<void(Physics3DObject* otherObject)> onTriggerExit;

    Physics3DCollider();
    virtual ~Physics3DCollider();

    bool init(Physics3DColliderDes* info);

protected:
    btGhostObject* _btGhostObject;
    Physics3DShape* _physics3DShape;
};

// end of 3d group
/// @}

NS_AX_END

#    endif  // AX_ENABLE_BULLET_INTEGRATION

#endif  // AX_USE_3D_PHYSICS

#endif  // __PHYSICS_3D_OBJECT_H__