mirror of https://github.com/axmolengine/axmol.git
623 lines
22 KiB
C++
623 lines
22 KiB
C++
/****************************************************************************
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Copyright (c) 2013-2016 Chukong Technologies Inc.
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Copyright (c) 2017-2018 Xiamen Yaji Software Co., Ltd.
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Copyright (c) 2021 Bytedance Inc.
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https://axmolengine.github.io/
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Permission is hereby granted, free of charge, to any person obtaining a copy
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||
of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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****************************************************************************/
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#ifndef __CCPHYSICS_BODY_H__
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#define __CCPHYSICS_BODY_H__
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#include "base/ccConfig.h"
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#if AX_USE_PHYSICS
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# include "2d/CCComponent.h"
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# include "math/CCMath.h"
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# include "physics/CCPhysicsShape.h"
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# include "base/CCVector.h"
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struct cpBody;
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NS_AX_BEGIN
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class Node;
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class PhysicsWorld;
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class PhysicsJoint;
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const PhysicsMaterial PHYSICSBODY_MATERIAL_DEFAULT(0.1f, 0.5f, 0.5f);
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/**
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* @addtogroup physics
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* @{
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* @addtogroup physics_2d
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* @{
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*/
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/**
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* A body affect by physics.
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*
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* It can attach one or more shapes.
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* If you create body with createXXX, it will automatically compute mass and moment with density your specified(which is
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* PHYSICSBODY_MATERIAL_DEFAULT by default, and the density value is 0.1f), and it based on the formula: mass = density
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* * area. If you create body with createEdgeXXX, the mass and moment will be PHYSICS_INFINITY by default. And it's a
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* static body. You can change mass and moment with setMass() and setMoment(). And you can change the body to be dynamic
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* or static by use function setDynamic().
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*/
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class AX_DLL PhysicsBody : public Component
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{
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public:
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const static std::string COMPONENT_NAME;
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/**
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* Create a body with default mass and moment.
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*
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* This default mass value is 1.0.
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* This default moment value is 200.
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* @return An autoreleased PhysicsBody object pointer.
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*/
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static PhysicsBody* create();
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/**
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* Create a body with mass and default moment.
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*
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* @param mass This body's mass.
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* @return An autoreleased PhysicsBody object pointer.
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*/
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static PhysicsBody* create(float mass);
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/**
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* Create a body with mass and moment.
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*
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* @param mass This body's mass.
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* @param moment This body's moment.
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* @return An autoreleased PhysicsBody object pointer.
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*/
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static PhysicsBody* create(float mass, float moment);
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/**
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* Create a body contains a circle.
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*
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* @param radius A float number, it is the circle's radius.
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* @param material A PhysicsMaterial object, the default value is PHYSICSSHAPE_MATERIAL_DEFAULT.
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* @param offset A Vec2 object, it is the offset from the body's center of gravity in body local coordinates.
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* @return An autoreleased PhysicsBody object pointer.
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*/
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static PhysicsBody* createCircle(float radius,
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const PhysicsMaterial& material = PHYSICSBODY_MATERIAL_DEFAULT,
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const Vec2& offset = Vec2::ZERO);
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/**
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* Create a body contains a box shape.
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*
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* @param size Size contains this box's width and height.
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* @param material A PhysicsMaterial object, the default value is PHYSICSSHAPE_MATERIAL_DEFAULT.
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* @param offset A Vec2 object, it is the offset from the body's center of gravity in body local coordinates.
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* @return An autoreleased PhysicsBody object pointer.
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*/
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static PhysicsBody* createBox(const Vec2& size,
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const PhysicsMaterial& material = PHYSICSBODY_MATERIAL_DEFAULT,
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const Vec2& offset = Vec2::ZERO);
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/**
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* @brief Create a body contains a polygon shape.
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*
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* @param points Points is an array of Vec2 structs defining a convex hull with a clockwise winding.
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* @param count An integer number, contains the count of the points array.
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* @param material A PhysicsMaterial object, the default value is PHYSICSSHAPE_MATERIAL_DEFAULT.
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* @param offset A Vec2 object, it is the offset from the body's center of gravity in body local coordinates.
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* @return An autoreleased PhysicsBody object pointer.
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*/
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static PhysicsBody* createPolygon(const Vec2* points,
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int count,
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const PhysicsMaterial& material = PHYSICSBODY_MATERIAL_DEFAULT,
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const Vec2& offset = Vec2::ZERO);
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/**
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* Create a body contains a EdgeSegment shape.
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*
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* @param a It's the edge's begin position.
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* @param b It's the edge's end position.
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* @param material A PhysicsMaterial object, the default value is PHYSICSSHAPE_MATERIAL_DEFAULT.
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* @param border It's a edge's border width.
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* @return An autoreleased PhysicsBody object pointer.
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*/
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static PhysicsBody* createEdgeSegment(const Vec2& a,
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const Vec2& b,
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const PhysicsMaterial& material = PHYSICSBODY_MATERIAL_DEFAULT,
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float border = 1);
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/**
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* Create a body contains a EdgeBox shape.
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* @param size The size contains this box's width and height.
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* @param material A PhysicsMaterial object, the default value is PHYSICSSHAPE_MATERIAL_DEFAULT.
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* @param border It's a edge's border width.
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* @param offset A Vec2 object, it is the offset from the body's center of gravity in body local coordinates.
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* @return An autoreleased PhysicsBody object pointer.
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*/
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static PhysicsBody* createEdgeBox(const Vec2& size,
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const PhysicsMaterial& material = PHYSICSBODY_MATERIAL_DEFAULT,
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float border = 1,
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const Vec2& offset = Vec2::ZERO);
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/**
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* Create a body contains a EdgePolygon shape.
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*
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* @param points Points is an array of Vec2 structs defining a convex hull with a clockwise winding.
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* @param count An integer number, contains the count of the points array.
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* @param material A PhysicsMaterial object, the default value is PHYSICSSHAPE_MATERIAL_DEFAULT.
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* @param border It's a edge's border width.
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* @return An autoreleased PhysicsBody object pointer.
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*/
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static PhysicsBody* createEdgePolygon(const Vec2* points,
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int count,
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const PhysicsMaterial& material = PHYSICSBODY_MATERIAL_DEFAULT,
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float border = 1);
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/**
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* Create a body contains a EdgeChain shape.
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*
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* @param points A Vec2 object pointer, it contains an array of points.
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* @param count An integer number, contains the count of the points array.
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* @param material A PhysicsMaterial object, the default value is PHYSICSSHAPE_MATERIAL_DEFAULT.
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* @param border It's a edge's border width.
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* @return An autoreleased PhysicsBody object pointer.
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*/
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static PhysicsBody* createEdgeChain(const Vec2* points,
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int count,
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const PhysicsMaterial& material = PHYSICSBODY_MATERIAL_DEFAULT,
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float border = 1);
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/**
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* @brief Add a shape to body.
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* @param shape The shape to be added.
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* @param addMassAndMoment If this is true, the shape's mass and moment will be added to body. The default is true.
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* @return This shape's pointer if added success or nullptr if failed.
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*/
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virtual PhysicsShape* addShape(PhysicsShape* shape, bool addMassAndMoment = true);
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/**
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* @brief Remove a shape from body.
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* @param shape Shape the shape to be removed.
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* @param reduceMassAndMoment If this is true, the body mass and moment will be reduced by shape. The default is
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* true.
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*/
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void removeShape(PhysicsShape* shape, bool reduceMassAndMoment = true);
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/**
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* @brief Remove a shape from body.
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* @param tag The tag of the shape to be removed.
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* @param reduceMassAndMoment If this is true, the body mass and moment will be reduced by shape. The default is
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* true.
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*/
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void removeShape(int tag, bool reduceMassAndMoment = true);
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/**
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* Remove all shapes.
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*
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* @param reduceMassAndMoment If this is true, the body mass and moment will be reduced by shape. The default is
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* true.
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*/
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void removeAllShapes(bool reduceMassAndMoment = true);
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/**
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* Get the body shapes.
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*
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* @return A Vector<PhysicsShape*> object contains PhysicsShape pointer.
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*/
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const Vector<PhysicsShape*>& getShapes() const { return _shapes; }
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/**
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* Get the first shape of the body shapes.
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*
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* @return The first shape in this body.
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*/
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PhysicsShape* getFirstShape() const { return _shapes.size() >= 1 ? _shapes.at(0) : nullptr; }
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/**
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* get the shape of the body.
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*
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* @param tag An integer number that identifies a PhysicsShape object.
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* @return A PhysicsShape object pointer or nullptr if no shapes were found.
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*/
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PhysicsShape* getShape(int tag) const;
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/**
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* Applies a continuous force to body.
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*
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* @param force The force is applies to this body.
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* @param offset A Vec2 object, it is the offset from the body's center of gravity in world coordinates.
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*/
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virtual void applyForce(const Vec2& force, const Vec2& offset = Vec2::ZERO);
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/**
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* reset all the force applied to body.
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*/
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virtual void resetForces();
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/**
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* Applies a immediate force to body.
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*
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* @param impulse The impulse is applies to this body.
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* @param offset A Vec2 object, it is the offset from the body's center of gravity in world coordinates.
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*/
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virtual void applyImpulse(const Vec2& impulse, const Vec2& offset = Vec2::ZERO);
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/**
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* Applies a torque force to body.
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*
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* @param torque The torque is applies to this body.
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*/
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virtual void applyTorque(float torque);
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/**
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* Set the velocity of a body.
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*
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* @param velocity The velocity is set to this body.
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*/
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virtual void setVelocity(const Vec2& velocity);
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/** Get the velocity of a body. */
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virtual Vec2 getVelocity();
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/**
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* Set the angular velocity of a body.
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*
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* @param velocity The angular velocity is set to this body.
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*/
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virtual void setAngularVelocity(float velocity);
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/** Get the angular velocity of a body at a local point.*/
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virtual Vec2 getVelocityAtLocalPoint(const Vec2& point);
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/** get the angular velocity of a body at a world point */
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virtual Vec2 getVelocityAtWorldPoint(const Vec2& point);
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/** get the angular velocity of a body */
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virtual float getAngularVelocity();
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/** set the max of velocity */
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virtual void setVelocityLimit(float limit);
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/** get the max of velocity */
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virtual float getVelocityLimit();
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/** set the max of angular velocity */
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virtual void setAngularVelocityLimit(float limit);
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/** get the max of angular velocity */
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virtual float getAngularVelocityLimit();
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/** remove the body from the world it added to */
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void removeFromWorld();
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/** get the world body added to. */
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PhysicsWorld* getWorld() const { return _world; }
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/** get all joints the body have */
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const std::vector<PhysicsJoint*>& getJoints() const { return _joints; }
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/** get the node the body set to. */
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Node* getNode() const { return _owner; }
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/**
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* A mask that defines which categories this physics body belongs to.
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*
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* Every physics body in a scene can be assigned to up to 32 different categories, each corresponding to a bit in
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* the bit mask. You define the mask values used in your game. In conjunction with the collisionBitMask and
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* contactTestBitMask properties, you define which physics bodies interact with each other and when your game is
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* notified of these interactions.
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* @param bitmask An integer number, the default value is 0xFFFFFFFF (all bits set).
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*/
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void setCategoryBitmask(int bitmask);
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/**
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* A mask that defines which categories of bodies cause intersection notifications with this physics body.
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*
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* When two bodies share the same space, each body's category mask is tested against the other body's contact mask
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* by performing a logical AND operation. If either comparison results in a non-zero value, an PhysicsContact object
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* is created and passed to the physics world’s delegate. For best performance, only set bits in the contacts mask
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* for interactions you are interested in.
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* @param bitmask An integer number, the default value is 0x00000000 (all bits cleared).
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*/
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void setContactTestBitmask(int bitmask);
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/**
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* A mask that defines which categories of physics bodies can collide with this physics body.
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*
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* When two physics bodies contact each other, a collision may occur. This body's collision mask is compared to the
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* other body's category mask by performing a logical AND operation. If the result is a non-zero value, then this
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* body is affected by the collision. Each body independently chooses whether it wants to be affected by the other
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* body. For example, you might use this to avoid collision calculations that would make negligible changes to a
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* body's velocity.
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* @param bitmask An integer number, the default value is 0xFFFFFFFF (all bits set).
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||
*/
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void setCollisionBitmask(int bitmask);
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/**
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* Return bitmask of first shape.
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||
*
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* @return If there is no shape in body, return default value.(0xFFFFFFFF)
|
||
*/
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||
int getCategoryBitmask() const;
|
||
|
||
/**
|
||
* Return bitmask of first shape.
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||
*
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||
* @return If there is no shape in body, return default value.(0x00000000)
|
||
*/
|
||
int getContactTestBitmask() const;
|
||
|
||
/**
|
||
* Return bitmask of first shape.
|
||
*
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||
* @return If there is no shape in body, return default value.(0xFFFFFFFF)
|
||
*/
|
||
int getCollisionBitmask() const;
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||
|
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/**
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* Set the group of body.
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*
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* Collision groups let you specify an integral group index. You can have all fixtures with the same group index
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* always collide (positive index) or never collide (negative index). It have high priority than bit masks.
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||
*/
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void setGroup(int group);
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||
|
||
/**
|
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* Return group of first shape.
|
||
*
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||
* @return If there is no shape in body, return default value.(0)
|
||
*/
|
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int getGroup() const;
|
||
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/** get the body position. */
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Vec2 getPosition() const;
|
||
|
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/** get the body rotation. */
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float getRotation();
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||
|
||
/** set body position offset, it's the position witch relative to node */
|
||
void setPositionOffset(const Vec2& position);
|
||
|
||
/** get body position offset. */
|
||
const Vec2& getPositionOffset() const { return _positionOffset; }
|
||
|
||
/** set body rotation offset, it's the rotation witch relative to node */
|
||
void setRotationOffset(float rotation);
|
||
|
||
/** set the body rotation offset */
|
||
float getRotationOffset() const { return _rotationOffset; }
|
||
|
||
/**
|
||
* @brief Test the body is dynamic or not.
|
||
*
|
||
* A dynamic body will effect with gravity.
|
||
*/
|
||
bool isDynamic() const { return _dynamic; }
|
||
/**
|
||
* @brief Set dynamic to body.
|
||
*
|
||
* A dynamic body will effect with gravity.
|
||
*/
|
||
void setDynamic(bool dynamic);
|
||
|
||
/**
|
||
* @brief Set the body mass.
|
||
*
|
||
* @attention If you need add/subtract mass to body, don't use setMass(getMass() +/- mass), because the mass of body
|
||
* may be equal to PHYSICS_INFINITY, it will cause some unexpected result, please use addMass() instead.
|
||
*/
|
||
void setMass(float mass);
|
||
|
||
/** Get the body mass. */
|
||
float getMass() const { return _mass; }
|
||
|
||
/**
|
||
* @brief Add mass to body.
|
||
*
|
||
* @param mass If _mass(mass of the body) == PHYSICS_INFINITY, it remains.
|
||
* if mass == PHYSICS_INFINITY, _mass will be PHYSICS_INFINITY.
|
||
* if mass == -PHYSICS_INFINITY, _mass will not change.
|
||
* if mass + _mass <= 0, _mass will equal to MASS_DEFAULT(1.0)
|
||
* other wise, mass = mass + _mass;
|
||
*/
|
||
void addMass(float mass);
|
||
|
||
/**
|
||
* @brief Set the body moment of inertia.
|
||
*
|
||
* @note If you need add/subtract moment to body, don't use setMoment(getMoment() +/- moment), because the moment of
|
||
* body may be equal to PHYSICS_INFINITY, it will cause some unexpected result, please use addMoment() instead.
|
||
*/
|
||
void setMoment(float moment);
|
||
|
||
/** Get the body moment of inertia. */
|
||
float getMoment() const { return _moment; }
|
||
|
||
/**
|
||
* @brief Add moment of inertia to body.
|
||
*
|
||
* @param moment If _moment(moment of the body) == PHYSICS_INFINITY, it remains.
|
||
* if moment == PHYSICS_INFINITY, _moment will be PHYSICS_INFINITY.
|
||
* if moment == -PHYSICS_INFINITY, _moment will not change.
|
||
* if moment + _moment <= 0, _moment will equal to MASS_DEFAULT(1.0)
|
||
* other wise, moment = moment + _moment;
|
||
*/
|
||
void addMoment(float moment);
|
||
|
||
/** get linear damping. */
|
||
float getLinearDamping() const { return _linearDamping; }
|
||
|
||
/**
|
||
* Set linear damping.
|
||
*
|
||
* it is used to simulate fluid or air friction forces on the body.
|
||
* @param damping The value is 0.0f to 1.0f.
|
||
*/
|
||
void setLinearDamping(float damping)
|
||
{
|
||
_linearDamping = damping;
|
||
updateDamping();
|
||
}
|
||
|
||
/** Get angular damping. */
|
||
float getAngularDamping() const { return _angularDamping; }
|
||
|
||
/**
|
||
* Set angular damping.
|
||
*
|
||
* It is used to simulate fluid or air friction forces on the body.
|
||
* @param damping The value is 0.0f to 1.0f.
|
||
*/
|
||
void setAngularDamping(float damping)
|
||
{
|
||
_angularDamping = damping;
|
||
updateDamping();
|
||
}
|
||
|
||
/** Whether the body is at rest. */
|
||
bool isResting() const;
|
||
|
||
/** set body to rest */
|
||
void setResting(bool rest) const;
|
||
|
||
/**
|
||
* Set the enable value.
|
||
*
|
||
* If the body it isn't enabled, it will not has simulation by world.
|
||
*/
|
||
virtual void setEnabled(bool enable) override;
|
||
|
||
/** Whether the body can rotation. */
|
||
bool isRotationEnabled() const { return _rotationEnabled; }
|
||
|
||
/** Set the body is allow rotation or not */
|
||
void setRotationEnable(bool enable);
|
||
|
||
/** Whether this physics body is affected by the physics world's gravitational force. */
|
||
bool isGravityEnabled() const { return _gravityEnabled; }
|
||
|
||
/** Set the body is affected by the physics world's gravitational force or not. */
|
||
void setGravityEnable(bool enable);
|
||
|
||
/** Get the body's tag. */
|
||
int getTag() const { return _tag; }
|
||
|
||
/** set the body's tag. */
|
||
void setTag(int tag) { _tag = tag; }
|
||
|
||
/** Convert the world point to local. */
|
||
Vec2 world2Local(const Vec2& point);
|
||
|
||
/** Convert the local point to world. */
|
||
Vec2 local2World(const Vec2& point);
|
||
|
||
/** Get the rigid body of chipmunk. */
|
||
cpBody* getCPBody() const { return _cpBody; }
|
||
|
||
virtual void onEnter() override;
|
||
virtual void onExit() override;
|
||
virtual void onAdd() override;
|
||
virtual void onRemove() override;
|
||
|
||
protected:
|
||
PhysicsBody();
|
||
virtual ~PhysicsBody();
|
||
|
||
virtual bool init() override;
|
||
|
||
virtual void setPosition(float positionX, float positionY);
|
||
|
||
virtual void setRotation(float rotation);
|
||
|
||
virtual void setScale(float scaleX, float scaleY);
|
||
|
||
void update(float delta) override;
|
||
|
||
void removeJoint(PhysicsJoint* joint);
|
||
|
||
void updateDamping() { _isDamping = _linearDamping != 0.0f || _angularDamping != 0.0f; }
|
||
|
||
void addToPhysicsWorld();
|
||
void removeFromPhysicsWorld();
|
||
|
||
void beforeSimulation(const Mat4& parentToWorldTransform,
|
||
const Mat4& nodeToWorldTransform,
|
||
float scaleX,
|
||
float scaleY,
|
||
float rotation);
|
||
void afterSimulation(const Mat4& parentToWorldTransform, float parentRotation);
|
||
|
||
protected:
|
||
std::vector<PhysicsJoint*> _joints;
|
||
Vector<PhysicsShape*> _shapes;
|
||
PhysicsWorld* _world;
|
||
|
||
cpBody* _cpBody;
|
||
bool _dynamic;
|
||
bool _rotationEnabled;
|
||
bool _gravityEnabled;
|
||
bool _massDefault;
|
||
bool _momentDefault;
|
||
float _mass;
|
||
float _area;
|
||
float _density;
|
||
float _moment;
|
||
float _velocityLimit;
|
||
float _angularVelocityLimit;
|
||
bool _isDamping;
|
||
float _linearDamping;
|
||
float _angularDamping;
|
||
|
||
int _tag;
|
||
|
||
// when setMass() is invoked, it means body's mass is not calculated by shapes
|
||
bool _massSetByUser;
|
||
// when setMoment() is invoked, it means body's moment is not calculated by shapes
|
||
bool _momentSetByUser;
|
||
|
||
Vec2 _positionOffset;
|
||
float _rotationOffset;
|
||
float _recordedRotation;
|
||
double _recordedAngle;
|
||
|
||
// offset between owner's center point and down left point
|
||
Vec3 _ownerCenterOffset;
|
||
// offset of owner's center point and anchor point in parent coordinate
|
||
Vec2 _offset;
|
||
float _recordScaleX;
|
||
float _recordScaleY;
|
||
|
||
float _recordPosX;
|
||
float _recordPosY;
|
||
|
||
friend class PhysicsWorld;
|
||
friend class PhysicsShape;
|
||
friend class PhysicsJoint;
|
||
};
|
||
|
||
/** @} */
|
||
/** @} */
|
||
|
||
NS_AX_END
|
||
|
||
#endif // AX_USE_PHYSICS
|
||
#endif // __CCPHYSICS_BODY_H__
|